CN111942513B

CN111942513B - Control device for human-powered vehicle

Info

Publication number: CN111942513B
Application number: CN202010174937.6A
Authority: CN
Inventors: 谢花聪; 川崎充彦
Original assignee: Shimano Inc
Current assignee: Shimano Inc
Priority date: 2019-05-17
Filing date: 2020-03-13
Publication date: 2022-08-30
Anticipated expiration: 2040-03-13
Also published as: TW202043092A; US20200361562A1; CN111942513A; DE102020113226A1; US11787498B2; JP2020189500A

Abstract

The invention provides a control device for a human-powered vehicle, which can properly control a motor. The control device for a human-powered vehicle includes a control unit configured to control a motor configured to apply a propulsive force to the human-powered vehicle and to change a ratio of an assist force of the motor to the human-powered driving force in accordance with the human-powered driving force, wherein the control unit is configured to control the motor such that the assist force of the motor is smaller than a maximum value when a torque of the human-powered driving force is smaller than a preset first value, and such that the assist force of the motor is equal to the maximum value when the torque of the human-powered driving force is equal to the preset first value. The predetermined first value is a value in a range of 50Nm or more and 130Nm or less.

Description

Control device for human-powered vehicle

Technical Field

The present invention relates to a control device for a human-powered vehicle.

Background

For example, the human-powered vehicle disclosed in patent document 1 is configured to control the motor such that a ratio of the assist force of the motor to the human-powered driving force is a predetermined ratio.

Documents of the prior art

Patent document

Patent document 1: japanese laid-open patent publication No. 10-59260

Disclosure of Invention

An object of the present invention is to provide a control device for a human-powered vehicle capable of appropriately controlling a motor.

A control device according to a first aspect of the present invention is a control device for a power driven vehicle, and includes: and a control unit configured to control a motor configured to apply a propulsive force to the human-powered vehicle and change a ratio of an assist force of the motor to the human-powered driving force according to the human-powered driving force, wherein the control unit is configured to control the motor such that the assist force of the motor is smaller than a maximum value when a torque of the human-powered driving force is smaller than a preset first value and such that the assist force of the motor is equal to the maximum value when the torque of the human-powered driving force becomes the preset first value. The predetermined first value is a value in a range of 50Nm or more and 130Nm or less.

According to the control device of the first aspect, since the assist force of the motor is set to the maximum value when the torque of the human power driving force becomes the first value set in advance as the value in the range of 50Nm or more and 130Nm or less, the assist force of the motor can be increased until the torque of the human power driving force becomes the first value set in advance as the value in the range of 50Nm or more and 130Nm or less.

In the control device according to a second aspect of the first aspect of the present invention, the control device further includes a storage unit configured to store the information on the preset first value in a changeable manner.

According to the control device of the second aspect, since the preset first value stored in the storage unit can be changed, the preset first value can be set in accordance with the rider, the running environment, and the like.

A third aspect of the present invention is a control device for a human-powered vehicle, including: a control unit configured to control a motor configured to apply a propulsive force to the human-powered vehicle, and to change a ratio of an assisting force of the motor to a human-powered driving force according to the human-powered driving force; and a storage unit configured to variably store information on the preset first value, wherein the control unit is configured to control the motor such that the assist force of the motor is smaller than a maximum value when the torque of the human-powered driving force is smaller than the preset first value, and to control the motor such that the assist force of the motor is equal to the maximum value when the torque of the human-powered driving force is equal to the preset first value.

According to the control device of the third aspect, the assist force of the motor can be increased until the torque of the manual driving force becomes the preset first value, and further, the preset first value stored in the storage unit can be changed.

In the control device according to a fourth aspect of any one of the first to third aspects of the invention, the control portion is configured to control the motor so that the ratio is less than or equal to 200%.

According to the control device of the fourth aspect, the ratio of the assist force of the motor to the manual driving force is set to 200% or less, and therefore, an increase in the size of the motor can be suppressed.

In the control device according to a fifth aspect of the present invention, the control unit is configured to control the motor such that the torque of the assist force of the motor is smaller than the torque of the human-powered driving force when the torque of the human-powered driving force is smaller than a second predetermined value that is smaller than the first predetermined value; and controlling the motor so that the torque of the assist force of the motor is equal to or greater than the torque of the human-powered driving force when the torque of the human-powered driving force is equal to or greater than the second value.

According to the control device of the fifth aspect, when the torque of the human-powered driving force is smaller than the second value set in advance, the assist force of the motor can be suppressed and the consumption of electric power can be suppressed, and when the torque of the human-powered driving force is greater than or equal to the second value set in advance, the load on the rider can be reduced.

In the control device according to a sixth aspect of the present invention, the control unit is configured to control the motor such that the assist force torque of the motor is smaller than the manual driving force torque when the manual driving force torque is smaller than the preset first value.

According to the control device of the sixth aspect, when the torque of the manual driving force is smaller than the preset first value, the assist force of the motor can be suppressed and the consumption of electric power can be suppressed. Further, the motor can be prevented from being enlarged.

In the control device according to a seventh aspect of the present invention, the control unit is configured to control the motor such that a torque of an assist force of the motor is smaller than a torque of the human driving force.

According to the control device of the seventh aspect, it is possible to suppress the assist force of the motor and suppress the consumption of electric power. Further, the motor can be prevented from being enlarged.

In the control device according to an eighth aspect of any one of the first to seventh aspects of the present invention, the control unit is configured to control the motor so that a rate of change of a magnitude of increase in the assist force torque of the motor with respect to a magnitude of increase in the assist force torque of the human power drive force changes when the torque of the human power drive force is smaller than the preset first value.

According to the control device of the eighth aspect, when the torque of the manual driving force is smaller than the preset first value, the motor can be controlled so that the rate of change of the increase width of the torque of the assist force of the motor with respect to the increase width of the torque of the manual driving force changes.

In the control device according to a ninth aspect of the present invention, the control unit is configured to control the motor such that a rate of change of a magnitude of increase in the assist force torque of the motor with respect to a magnitude of increase in the human-powered driving force torque becomes larger as the human-powered driving force torque becomes larger, when the human-powered driving force torque is smaller than the preset first value.

According to the control device of the ninth aspect, when the torque of the manual driving force is smaller than the preset first value, the motor can be controlled such that the rate of change of the magnitude of increase in the torque of the assist force of the motor with respect to the magnitude of increase in the torque of the manual driving force becomes larger as the torque of the manual driving force becomes larger.

In the control device according to a tenth aspect of any one of the first to ninth aspects of the present invention, the control unit is configured to drive the motor in accordance with the manual driving force when the torque of the manual driving force changes from a value smaller than a preset third value to a value greater than or equal to the preset third value, the preset third value being smaller than the preset first value.

According to the control device of the tenth aspect, the motor can be driven by the manual driving force when the torque of the manual driving force is changed from a value smaller than a preset third value smaller than the preset first value to a value greater than or equal to the preset third value. Therefore, it can be assumed that the assist force of the motor is not generated until the torque of the manual driving force reaches the third value.

In the control device according to an eleventh aspect of any one of the first to tenth aspects of the present invention, the control unit is configured to control the motor such that a first rate of change of an increase in output of the motor with respect to an increase in the human-powered driving force when the human-powered vehicle is started from a stopped state is higher than a second rate of change of an increase in output of the motor with respect to an increase in the human-powered driving force when the human-powered vehicle is traveling, in a range where the torque of the human-powered driving force is equal to or less than at least a part of the preset first value.

According to the control device of the eleventh aspect, the motor can be controlled so that the first rate of change of the increase in the output of the motor with respect to the increase in the human-powered vehicle from the stopped state to the started state and the second rate of change of the increase in the output of the motor with respect to the increase in the human-powered vehicle while the human-powered vehicle is traveling respectively become appropriate rates of change in the torque of the human-powered driving force within a range that is less than or equal to at least a part of the preset first value. Therefore, the load of the rider can be reduced when the vehicle is driven by manpower from a stopped state to a started state.

In the control device according to a twelfth aspect of any one of the first to eleventh aspects of the present invention, the control unit is configured to control the motor so that the ratio is different between a case where the output of the motor is increased in accordance with an increase in the human-powered driving force and a case where the output of the motor is decreased in accordance with a decrease in the human-powered driving force.

According to the control device of the twelfth aspect, the motor can be controlled so as to be in a ratio suitable for a case where the output of the motor is increased in accordance with an increase in the manual driving force and a case where the output of the motor is decreased in accordance with a decrease in the manual driving force.

In the control device according to a thirteenth aspect of the present invention, the control unit is configured to control the motor such that the ratio in a case where the output of the motor is increased in accordance with an increase in the human-powered driving force is larger than the ratio in a case where the output of the motor is decreased in accordance with a decrease in the human-powered driving force.

According to the control device of the thirteenth aspect, since the ratio in the case where the output of the motor is increased in accordance with an increase in the human-powered driving force is larger than the ratio in the case where the output of the motor is decreased in accordance with a decrease in the human-powered driving force, the load on the rider can be reduced when accelerating the human-powered vehicle, and the power consumption can be suppressed when decelerating the human-powered vehicle.

A control device according to a fourteenth aspect of the present invention is a control device for a human-powered vehicle, including: and a control unit configured to control a motor configured to apply a propulsive force to the human-powered vehicle and change a ratio of an assist force of the motor to the human-powered driving force according to the human-powered driving force, wherein the control unit is configured to control the motor such that the assist force of the motor is smaller than a maximum value when an electric power of the human-powered driving force is smaller than a preset first value, and such that the assist force of the motor becomes the maximum value when the electric power of the human-powered driving force is the preset first value. The predetermined first value is a value in a range of 200W to 600W.

According to the control device of the fourteenth aspect, when the power of the manual driving force is the preset first value that is the value in the range of 200W or more and 600W or less, the assist force of the motor is set to the maximum value, and therefore, the assist force of the motor can be increased until the power of the manual driving force becomes the preset first value that is the value in the range of 200W or more and 600W or less. Therefore, the motor can be appropriately controlled.

A control device according to a fifteenth aspect of the present invention is a control device for a human-powered vehicle, including: a control unit configured to control a motor configured to apply a propulsive force to the human-powered vehicle, and to change a ratio of an assisting force of the motor to a human-powered driving force according to the human-powered driving force; and a storage unit, wherein the control unit is configured to control the motor such that the assist force of the motor is smaller than a maximum value when the power of the human power driving force is smaller than a preset first value, and such that the assist force of the motor is equal to the maximum value when the power of the human power driving force is equal to the preset first value. The storage unit is configured to store information on the preset first value in a changeable manner.

According to the control device of the fifteenth aspect, the assist force of the motor can be increased until the power of the human driving force reaches the preset first value, and further, the preset first value stored in the storage unit can be changed, so that the first value can be set in accordance with the rider, the running environment, and the like.

Effects of the invention

The control device for a human-powered vehicle of the present invention can appropriately control a motor.

Drawings

FIG. 1 is a side view of a human-powered vehicle including a control apparatus for a human-powered vehicle of a first embodiment;

fig. 2 is a block diagram showing an electrical configuration of a control device for a human-powered vehicle according to a first embodiment;

fig. 3 is a graph showing a relationship between the torque of the manual driving force and the torque of the assist force of the motor, and a relationship between the torque of the manual driving force and the ratio, corresponding to information on a preset first value stored in the storage unit of fig. 2;

fig. 4 is a first part of a flowchart of a process of controlling the motor, which is implemented by the control section of fig. 2;

fig. 5 is a second part of the flowchart of the process of controlling the motor, which is implemented by the control section of fig. 2;

fig. 6 is a flowchart of a process of changing a preset first value stored in the storage unit, which is performed by the control unit of fig. 2;

fig. 7 is a graph showing a relationship between the torque of the manual driving force and the torque of the assist force of the motor and a relationship between the torque of the manual driving force and the ratio, corresponding to information on a preset first value stored in the storage unit of the second embodiment;

fig. 8 is a first part of a flowchart of a process of controlling the motor, which is performed by the control section of the second embodiment;

fig. 9 is a flowchart of a process of controlling the motor, which is performed by the control unit of the first modification;

fig. 10 is a graph showing a relationship between the power of the human-powered driving force and the power of the assist force of the motor and a relationship between the power of the human-powered driving force and the ratio, corresponding to information on a preset first value stored in the storage unit of the second modification;

fig. 11 is a graph showing a relationship between the torque of the manual driving force and the torque of the assist force of the motor and a relationship between the torque of the manual driving force and the ratio, corresponding to the information on the preset first value stored in the storage unit of the third modification.

Detailed Description

(first embodiment)

A control device 40 for a human-powered vehicle according to a first embodiment of the present invention will be described with reference to fig. 1 to 6. Hereinafter, the control device 40 for the human-powered vehicle will be simply referred to as a control device 40. The human-powered vehicle 10 is a vehicle that can be driven by at least the human-powered driving force H. The human-powered vehicle 10 includes various bicycles such as a mountain bike, a road bike, a city bike, a freight bike, and a recumbent bike, and an electric bike (E-bike), for example. The human powered vehicle 10 is not limited to the number of wheels, and includes, for example, unicycles as well as vehicles having three or more wheels. Electric bicycles include electric-assisted bicycles that assist the propulsion of the vehicle by an electric motor. In the following, the embodiment will be described with reference to the human-powered vehicle 10 as a bicycle.

The human-powered vehicle 10 includes a first wheel 12A and a second wheel 12B. In the present embodiment, the first wheel 12A includes a front wheel, and the second wheel 12B includes a rear wheel. The human powered vehicle 10 also includes a crank 14. The human powered vehicle 10 also includes a body 16. The vehicle body 16 is further provided with a frame 18. The manual driving force H is input to the crank 14. The crank 14 includes: a crank axle 14A rotatable with respect to the frame 18; and crank arms 14B provided at axial end portions of the crank shaft 14A, respectively. The pair of pedals 20 are coupled to the respective crank arms 14B. In the present embodiment, the rear wheels are driving wheels. The drive wheel is driven by rotation of the crank 14. The drive wheels are supported on the frame 18. The crank 14 and the drive wheel are coupled by a drive mechanism 22. The drive mechanism 22 includes a first rotating body 24 coupled to the crank axle 14A. The crank shaft 14A and the first rotating body 24 can be coupled via a first one-way clutch. The first one-way clutch is configured to rotate the first rotating body 24 forward when the crank 14 rotates forward, and not to rotate the first rotating body 24 backward when the crank 14 rotates backward. The first rotating body 24 includes a sprocket, a pulley, or a bevel gear. The drive mechanism 22 further includes a second rotating body 26 and a coupling member 28. The coupling member 28 transmits the rotational force of the first rotating body 24 to the second rotating body 26. The coupling member 28 includes, for example, a chain, a belt, or a transmission shaft.

The second rotating body 26 is coupled to the drive wheel. Second rotating body 26 includes a sprocket, a pulley, or a bevel gear. Preferably, a second one-way clutch is provided between the second rotating body 26 and the drive wheels. The second one-way clutch is configured to rotate the drive wheel forward when the second rotating body 26 rotates forward, and not to rotate the drive wheel backward when the second rotating body 26 rotates backward.

The second wheel 12B may comprise a front wheel and the first wheel 12A may comprise a rear wheel. The body 16 also includes a front fork 30, a stem 32, and a handlebar 34. The front wheel is mounted to the frame 18 via a front fork 30. The handlebar 34 is coupled to the front fork 30 via the stem 32. In the following embodiments, the rear wheels are described as the drive wheels, but the front wheels may be the drive wheels, and both the front wheels and the rear wheels may be the drive wheels.

The human powered vehicle 10 includes a battery 36 for the human powered vehicle. The battery 36 includes one or more cells. The battery cell includes a rechargeable battery. The battery 36 supplies electric power to the control device 40. Preferably, the battery 36 is communicably connected with the control device 40 by wire or wirelessly. The battery 36 can communicate with the control unit 42 by, for example, Power Line Communication (PLC).

The human powered vehicle 10 includes a motor 38. The motor 38 is configured to apply a propulsive force to the human powered vehicle 10. The motor 38 comprises an electric motor. The motor 38 is provided as a power transmission path or front wheel that transmits rotation to the human-powered driving force H from the pedals 20 to the rear wheels. The power transmission path of the human-powered driving force H from the pedals 20 to the rear wheels includes the rear wheels. In the present embodiment, the motor 38 is provided to transmit rotation to the first rotating body 24. The motor 38 may be provided to at least one of the front wheels or the rear wheels, and may be constituted by a hub motor, for example. The motor 38 and the housing provided with the motor 38 constitute a drive unit. Preferably, a third one-way clutch is provided on the power transmission path between the motor 38 and the crank shaft 14A so that the motor 38 is not rotated by the rotational force of the crank 14 when the crank shaft 14A is rotated in the direction in which the vehicle 10 is manually driven to advance. The output of the motor 38 may be input to the power transmission path of the human-powered driving force H via a reduction gear.

The control device 40 includes a control section 42. The control unit 42 includes a calculation processing device for executing a preset control program. The operation Processing device includes, for example, a CPU (Central Processing Unit) or an MPU (micro Processing Unit). The arithmetic processing device can be provided at a plurality of places separated from each other. The control section 42 may include one or more microcomputers. Preferably, the control section 42 further includes a storage section 44. The storage unit 44 stores various control programs and information used for various control processes. The storage unit 44 includes, for example, a nonvolatile memory and a volatile memory. The nonvolatile Memory includes at least one of, for example, ROM (Read-Only Memory), eprom (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash Memory. Volatile memory includes, for example, ram (random access memory).

Preferably, the control device 40 further includes a drive circuit 46 for the motor 38. Preferably, the drive circuit 46 and the control section 42 are provided to the housing of the motor 38. Preferably, the drive circuit 46 and the control section 42 may be provided on the same circuit substrate, for example. The drive circuit 46 includes an inverter circuit. The drive circuit 46 controls the electric power supplied from the battery 36 to the motor 38. The drive circuit 46 is communicably connected to the control unit 42 by wire or wirelessly. The drive circuit 46 drives the motor 38 in accordance with a control signal from the control unit 42.

The control device 40 controls the motor 38 based on the manual driving force H. Further, the control device 40 may control the motor 38 according to at least one of the running speed V of the human-powered vehicle 10 and the rotation speed of the crank shaft 14A. Preferably, the control device 40 further includes a vehicle speed sensor 48, a crank rotation sensor 50, and a torque sensor 52. The human driving force H can be expressed in torque HT as well as in power HW.

The vehicle speed sensor 48 is configured to output information corresponding to a traveling speed V of the human-powered vehicle 10. Preferably, the vehicle speed sensor 48 is configured to detect a magnet provided on a wheel of the human-powered vehicle 10. Preferably, the vehicle speed sensor 48 is configured to output a detection signal a predetermined number of times during 1 cycle of wheel rotation. The predetermined number of times is, for example, 1 time. The vehicle speed sensor 48 is configured to output information corresponding to the rotation speed of the wheels of the human powered vehicle 10. The control unit 42 can calculate the traveling speed V of the human-powered vehicle 10 based on the rotation speed of the wheels. For example, the control unit 42 is configured to calculate the traveling speed V of the human-powered vehicle 10 using information on the rotational speed of the wheels and information on the radius or diameter of the wheels. Information on the radius or diameter of the wheel is stored in the storage unit 44, for example. Preferably, the vehicle speed sensor 48 includes a magnetic reed or a hall element constituting a reed switch. The vehicle speed sensor 48 may be configured to detect a magnet attached to the rear wheel and attached to the rear fork of the frame 18 of the human-powered vehicle 10, or may be configured to detect a magnet attached to the front wheel and attached to the front fork 30. In the present embodiment, the vehicle speed sensor 48 is configured such that the reed switch detects the magnet 1 time when the wheel rotates 1 cycle. The vehicle speed sensor 48 may include, for example, an acceleration sensor or a GPS receiver, and may be configured to output information corresponding to the travel speed V of the human-powered vehicle 10.

The crank rotation sensor 50 is configured to output information corresponding to the rotation speed of the crankshaft 14A. The crank rotation sensor 50 is attached to, for example, the frame 18 of the human-powered vehicle 10. The crank rotation sensor 50 is configured to include a magnetic field sensor that outputs a signal corresponding to the strength of the magnetic field. The ring magnet having a magnetic field strength varying in the circumferential direction is provided on the crank shaft 14A, a member rotating in association with the crank shaft 14A, or a power transmission path from the crank shaft 14A to the first rotating body 24. The member that rotates in conjunction with the crank shaft 14A includes an output shaft of the motor 38, a member that constitutes a speed reducer, or the like. The crank rotation sensor 50 outputs a signal corresponding to the rotation speed of the crank shaft 14A. The magnet may be provided in a part that rotates integrally with the crank shaft 14A in a power transmission path of the manual driving force H from the crank shaft 14A to the first rotating body 24. For example, in the case where the first one-way clutch is not provided between the crank shaft 14A and the first rotating body 24, the magnet may be provided on the first rotating body 24. The crank rotation sensor 50 may include an optical sensor, an acceleration sensor, a torque sensor, or the like, instead of the magnet sensor, and may be configured to output information corresponding to the rotation speed of the crank shaft 14A. The crank rotation sensor 50 is connected to the control unit 42 via a wireless communication device or a cable.

The torque sensor 52 is configured to output information corresponding to the torque HT of the manual driving force H input to the crank 14. For example, when the first one-way clutch is provided in the power transmission path, the torque sensor 52 is preferably provided on the upstream side of the first one-way clutch in the power transmission path. The torque sensor 52 includes a strain gauge sensor, a magnetostrictive sensor, a pressure sensor, or the like. The strain gauge sensor comprises a strain gauge. The torque sensor 52 is provided in the vicinity of the power transmission path or a member included in the power transmission path. The power transmission path includes, for example, a crank shaft 14A, a member for transmitting the manual driving force H between the crank shaft 14A and the first rotating body 24, a crank arm 14B, or a pedal 20. The torque sensor 52 is connected to the control unit 42 via a wireless communication device or a cable. The power HW of the manual driving force H is obtained by multiplying the torque detected by the torque sensor 52 by the rotation speed of the crankshaft 14A detected by the crank rotation sensor 50. The torque sensor 52 may be provided on the frame 18, a support portion supporting the crankshaft 14A, a hub of a rear wheel, or the like, and may be configured to output information corresponding to the torque HT of the manual driving force H input to the crank 14.

The control unit 42 is configured to control the motor 38 and change the ratio a of the assist force M of the motor 38 to the manual driving force H based on the manual driving force H. A torque ratio of the torque MT of the assist force M of the motor 38 to the torque HT of the human-powered driving force H of the human-powered vehicle 10 may be referred to as a ratio AT. For example, the control unit 42 may describe a ratio AW of the power MW (watts) of the assist force M of the motor 38 to the power HW (watts) of the manual driving force H. For example, the control unit 42 is configured to control the motor 38 in one control mode selected from a plurality of control modes in which at least a part of the correspondence relationship between the human power driving force H and the ratio a is different from each other. The power HW of the manual driving force H is calculated by multiplying the manual driving force H by the rotation speed N of the crankshaft 14A. When the output of the motor 38 is input to the power transmission path of the manual driving force H via the speed reducer, the output of the speed reducer is used as the assist force M. In the case where no speed reducer is provided, the power MW of the assist force M is calculated by multiplying the torque of the motor 38 by the rotation speed of the motor 38. When a speed reducer is provided, the power MW of the assist force M is calculated by multiplying the output torque of the speed reducer by the output rotation speed of the speed reducer. A motor rotation speed sensor that outputs a signal corresponding to the rotation speed of the motor 38 is provided at the motor 38 or around the motor 38. The control unit 42 is connected to a motor rotation speed sensor, and can calculate the rotation speed of the motor 38 from an output signal of the motor rotation speed sensor. When a speed reducer is provided, the storage unit 44 is configured to store information on the speed reduction ratio of the speed reducer. The control unit 42 can calculate the output rotation speed of the speed reducer from the rotation speed of the motor 38 and information on the reduction ratio of the speed reducer. For example, the storage unit 44 stores information indicating a relationship between a control command for the motor 38 and the output torque of the motor 38. For example, the control unit 42 can calculate the output torque of the motor 38 from the information indicating the relationship between the control command of the motor 38 and the output torque of the motor 38 stored in the storage unit 44. For example, the control unit 42 is configured to be able to calculate the output torque of the speed reducer based on the output torque of the motor 38 and information on the speed reduction ratio of the speed reducer. The control unit 42 is configured to output a control command to the drive circuit 46 of the motor 38 in accordance with the torque HT or the power HW of the manual driving force H. For example, the control command includes a torque command value. The plurality of control modes may include a control mode in which the motor 38 is not driven. The control portion 42 may be configured to control the motor 38 by only one control mode.

For example, if traveling speed V is greater than or equal to first speed VA set in advance, control unit 42 stops motor 38. The predetermined first speed VA is, for example, 45Km per hour. The predetermined speed may be less than 45Km per hour, for example 25Km per hour.

The control unit 42 is configured to control the motor 38 such that the assist force M of the motor 38 is smaller than the maximum value MX when the torque HT of the manual driving force H is smaller than a preset first value HT1, and such that the assist force M of the motor 38 is equal to the maximum value MX when the torque HT of the manual driving force H is equal to a preset first value HT 1. The preset first value HT1 is a value in the range of 50Nm to 130 Nm. Preferably, first value HT1 set in advance is a value in a range of 70Nm to 110 Nm.

In the case where the assist force M is expressed by the torque MT, the torque MT includes assist torque generated by the motor 38. In the case where the output of the motor 38 is input to the power transmission path of the human-powered driving force H via the speed reducer, the assist torque includes the output torque of the speed reducer. When the assist force M is expressed by the torque MT, the control unit 42 controls the motor 38 so that the torque MT is less than or equal to the maximum value MTX. Preferably, the maximum value MTX is a value in a range of 70Nm or more and 90Nm or less. For example, the maximum MTX is 80 Nm. Preferably, the maximum value MTX is determined by the output characteristics of the motor 38. For example, the control unit 42 may be configured to control the motor 38 in a plurality of control modes such that the maximum value MX in each control mode is different.

The plurality of control modes may include a preset first control mode and a preset second control mode. The control unit 42 is configured to control the motor 38 such that the assist force M of the motor 38 becomes the maximum value MX when the torque HT of the manual driving force H becomes the preset first value HT1 in the preset first control mode. The control unit 42 may be configured to control the motor 38 so that the assisting force M becomes the maximum value MX when the torque HT of the manual driving force H is a value different from the preset first value HT1 in the preset second control mode. The control unit 42 may be configured to control the motor 38 such that the assist force M of the motor 38 becomes the maximum value MX when the torque HT of the manual driving force H becomes the preset first value HT1 in all of the plurality of control modes.

Preferably, the control unit 42 is configured to control the motor 38 such that the torque MT of the assist force M of the motor 38 is smaller than the torque HT of the manual driving force H when the torque HT of the manual driving force H is smaller than a preset first value HT 1. In the present embodiment, the control unit 42 is configured to control the motor 38 such that the torque MT of the assisting force M of the motor 38 is smaller than the torque HT of the manual driving force H. In the present embodiment, the control unit 42 is configured to control the motor 38 such that the torque MT of the assist force M of the motor 38 is smaller than the torque HT of the manual driving force H when the torque HT of the manual driving force H is equal to or greater than a preset first value HT 1.

Preferably, the control unit 42 is configured to control the motor 38 such that the torque MT of the assist force M of the motor 38 increases as the torque HT of the human-powered driving force H increases, when the torque HT of the human-powered driving force H is smaller than a preset first value HT 1. In the present embodiment, the control unit 42 is configured to control the motor 38 such that the torque MT of the assist force M of the motor 38 increases as the torque HT of the manual driving force H increases, when the torque HT of the manual driving force H is smaller than a preset first value HT 1.

Preferably, the control unit 42 is configured to control the motor 38 such that the rate RT of change of the increase of the torque MT of the assist force M of the motor 38 with respect to the increase of the torque HT of the human power driving force H changes when the torque HT of the human power driving force H is smaller than a preset first value HT 1. Preferably, the control unit 42 is configured to control the motor 38 such that the rate RT of change of the increase of the torque MT of the assist force M of the motor 38 with respect to the increase of the torque HT of the human power driving force H becomes larger as the torque HT of the human power driving force H becomes larger, when the torque HT of the human power driving force H is smaller than a preset first value HT 1.

Preferably, the control unit 42 is configured to control the motor 38 such that an inflection point is provided in a graph showing a relationship between the torque HT of the manual driving force H and the torque MT of the assist force M of the motor 38 when the torque HT of the manual driving force H is a preset second value HT2 smaller than a preset first value HT 1. The graph showing the relationship between the torque HT of the manual driving force H and the torque MT of the assist force M of the motor 38 is represented by a curve showing the relationship between the torque HT of the manual driving force H and the torque MT of the assist force M of the motor 38, or an approximate curve showing the relationship between the torque HT of the manual driving force H and the torque MT of the assist force M of the motor 38.

Preferably, the control section 42 is configured to control the motor 38 so that the ratio a is less than or equal to 200%. In the present embodiment, the control unit 42 is configured to control the motor 38 so that the ratio a is equal to or less than 100% when the torque HT of the manual driving force H is equal to or greater than a preset first value HT 1. The control unit 42 may be configured to control the motor 38 such that the ratio AT is equal to or greater than 200% when the torque HT of the manual driving force H is equal to or greater than a preset first value HT 1. The control unit 42 may be configured to control the motor 38 so that the ratio AT is equal to or less than 100% in a first mode set in advance, and to control the motor 38 so that the ratio AT is equal to or more than 100% in a second mode set in advance.

Preferably, the controller 42 is configured to drive the motor 38 in accordance with the manual driving force H when the torque HT of the manual driving force H becomes greater than or equal to a preset third value HT3 from a value smaller than a preset third value HT3, which is smaller than a preset first value HT 1. Preferably, the preset third value HT3 is a value in a range of 3Nm or more and 10Nm or less. For example, the preset third value HT3 is 5 Nm.

Preferably, the controller 42 is configured to control the motor 38 such that a first rate R1 of increase in output of the motor 38 with respect to increase in the human-powered driving force H in a case where the human-powered vehicle 10 is started from a stopped state is higher than a second rate R2 of increase in output of the motor 38 with respect to increase in the human-powered driving force H in a case where the human-powered vehicle 10 is traveling, in a range where the torque HT of the human-powered driving force H is equal to or less than at least a part of a preset first value HT 1. For example, at least a part of the range where torque HT of human-powered driving force H is equal to or less than preset first value HT1 includes, for example, a range of 0Nm or more and 50Nm or less, and preferably includes a range of 5Nm or more and 30Nm or less. The first rate of change R1 includes a first rate of change RT1 of an increase in the torque MT of the assist force M of the motor 38 relative to an increase in the torque HT of the human-powered driving force H in the case where the human-powered vehicle 10 is started from a stopped state. The second rate of change R2 includes a second rate of change RT2 of an increase in the torque MT of the assist force M of the motor 38 relative to an increase in the torque HT of the human-powered driving force H in the case where the human-powered vehicle 10 is traveling. Preferably, the control unit 42 is configured to control the motor 38 such that a first rate of change RT1 of an increase in the torque MT of the assist force M of the motor 38 with respect to an increase in the torque HT of the human-powered vehicle 10 from the stopped state to the started state is higher than a second rate of change RT2 of an increase in the torque MT of the assist force M of the motor 38 with respect to an increase in the torque HT of the human-powered vehicle 10 while the vehicle 10 is traveling, in a range where the torque HT of the human-powered driving force H is equal to or less than at least a portion of a preset first value HT 1. In a range where the torque HT of the human-powered driving force H is less than or equal to at least a part of the preset first value HT1, the control section 42 may control the motor 38 such that the first rate of change RT1 is less than or equal to the second rate of change RT 2.

Preferably, the control unit 42 is configured to control the motor 38 so that the ratio a is different between a case where the output of the motor 38 is increased in accordance with an increase in the manual driving force H and a case where the output of the motor 38 is decreased in accordance with a decrease in the manual driving force H. Preferably, the control unit 42 is configured to control the motor 38 so that the ratio AT is different between a case where the output of the motor 38 is increased in accordance with an increase in the manual driving force H and a case where the output of the motor 38 is decreased in accordance with a decrease in the manual driving force H. Preferably, the control unit 42 is configured to control the motor 38 such that the ratio a in the case where the output of the motor 38 is increased in accordance with an increase in the human power driving force H is larger than the ratio a in the case where the output of the motor 38 is decreased in accordance with a decrease in the human power driving force H. Preferably, the control unit 42 is configured to control the motor 38 such that the ratio AT in the case where the output of the motor 38 is increased in accordance with an increase in the human-powered driving force H is larger than the ratio AT in the case where the output of the motor 38 is decreased in accordance with a decrease in the human-powered driving force H.

Preferably, the control portion 42 may be configured to control the motor 38 such that the ratio a in the case where the output of the motor 38 is increased in accordance with an increase in the human-powered driving force H is smaller than or equal to the ratio a in the case where the output of the motor 38 is decreased in accordance with a decrease in the human-powered driving force H. The control unit 42 may be configured to control the motor 38 so that the ratio AT in the case where the output of the motor 38 is increased in accordance with an increase in the human-powered driving force H is equal to the ratio AT in the case where the output of the motor 38 is decreased in accordance with a decrease in the human-powered driving force H.

The storage unit 44 stores information on a preset first value HT 1. The storage unit 44 also stores control information for controlling the motor 38 in accordance with the human-powered driving force H. In the present embodiment, the control information includes: first control information used by the control unit 42 when the human-powered vehicle 10 is started from a stopped state; and second control information used by the control unit 42 when the human-powered vehicle 10 is traveling. For example, the control information includes at least one of a table, a function, and a graph that correlates the torque HT of the human-powered driving force H with the assist force M of the motor 38. Preferably, the control information includes at least one of a table, a function, and a graph that corresponds the torque HT of the human-powered driving force H and the torque MT of the assist force M of the motor 38. For example, the control information may include at least one of a table, a function, and a map that corresponds the torque HT of the human-powered driving force H to the ratio a. For example, in the case where the control information includes at least one of a table, a function, and a graph that correlates the torque HT of the man-power driving force H with the ratio a, if the torque MT of the assist force M of the motor 38 is the maximum value MTX, the control unit 42 controls the motor 38 so that the torque MT of the assist force M of the motor 38 becomes the maximum value MTX even if the torque HT of the man-power driving force H becomes large.

A broken line L11 shown in fig. 3 shows an example of the relationship between the torque HT of the manual driving force H and the torque MT of the assist force M of the motor 38 corresponding to the second control information. In the broken line L11, the torque MT of the assist force M of the motor 38 is 0Nm when the torque HT of the manual driving force H is smaller than the preset third value HT 3. In the range where the torque HT of the manual driving force H is equal to or greater than the preset third value HT3 and equal to or less than the preset first value HT1, the broken line L11 may be a curve having a convex portion at the lower side, may be a straight line, may be a curve having a convex portion at the upper side, and may be a broken line. When the broken line L11 is a broken line in a range where the torque HT of the man-power driving force H is equal to or greater than the preset third value HT3 and equal to or less than the preset first value HT1, the control unit 42 controls the motor 38 so that the torque MT of the assist force M of the motor 38 does not change abruptly in response to a change in the man-power driving force H and so that the response speed of a change in the torque MT of the assist force M of the motor 38 at and near the bending point of the broken line L11 with respect to a change in the man-power driving force H is reduced. In fig. 3, for example, the maximum value MTX of the torque MT is less than or equal to a preset first value HT 1.

A two-dot chain line L31 shown in fig. 3 shows an example of the relationship between the torque HT of the manual driving force H and the torque MT of the assist force M of the motor 38 corresponding to the first control information. The two-dot chain line L31 may be a curved line having at least a convex portion at the lower side, may be a straight line, may be a curved line having a convex portion at the upper side, and may be a broken line. When the two-dot chain line L31 is a broken line, the control unit 42 may be configured to control the motor 38 such that the torque MT of the assist force M of the motor 38 does not change rapidly in response to a change in the human driving force H, and such that the response speed of a change in the torque MT of the assist force M of the motor 38 at and near the bending point of the two-dot chain line L31 with respect to a change in the human driving force H is reduced.

A chain line L21 shown in fig. 3 shows an example of the relationship between the torque HT of the manual driving force H and the ratio AT corresponding to the second control information. In the dot-and-dash line L21, the ratio AT in the case where the torque HT of the human-powered driving force H is smaller than the preset third value HT3 is 0%. The dotted line L21 is the following broken line: when the torque HT of the manual driving force H is equal to or greater than the preset third value HT3 and equal to or less than the preset first value HT1, the torque HT of the manual driving force H increases, and when the torque HT of the manual driving force H is equal to or greater than the preset first value HT1, the torque HT of the manual driving force H linearly decreases.

The process of controlling the motor 38 will be described with reference to fig. 4 and 5. When the control mode for controlling the motor 38 in accordance with the human-powered driving force is selected when the electric power is supplied to the control unit 42, the control unit 42 starts the process and proceeds to step S11 of the flowchart shown in fig. 4. When the flowchart of fig. 4 ends, control unit 42 repeats the processing from step S11 after a predetermined period until the power supply is stopped. In the case where the control unit 42 is configured to control the motor 38 in only one control mode, when power is supplied to the control unit 42, the process is started and the flow proceeds to step S11 of the flowchart shown in fig. 4.

In step S11, the control section 42 determines whether the torque HT of the human-powered driving force H has changed from a value smaller than a preset third value HT3 to a value greater than or equal to a preset third value HT 3. When the torque HT of the human-powered driving force H does not become greater than or equal to the preset third value HT3 from a value smaller than the preset third value HT3, the control section 42 ends the process. When the torque HT of the human-powered driving force H becomes equal to or greater than the preset third value HT3 from a value smaller than the preset third value HT3, the control section 42 proceeds to step S12.

In step S12, the controller 42 drives the motor 38 and proceeds to step S13. In step S13, the control unit 42 determines whether the human-powered vehicle 10 is started from the stopped state. When the human-powered vehicle 10 is started from the stopped state, the control unit 42 proceeds to step S14. For example, if the control unit 42 receives a signal from the vehicle speed sensor 48 in a state where the signal is not received from the vehicle speed sensor 48 for a first time period set in advance or longer, the process proceeds to step S14. In step S14, the controller 42 controls the motor 38 based on the first control information, and the process proceeds to step S20.

In step S13, if it is determined that the human-powered vehicle 10 has not started from the stopped state, the control unit 42 proceeds to step S15. For example, in a situation where the state where no signal is received from the vehicle speed sensor 48 is less than the preset first time period, the control unit 42 proceeds to step S15. When the human-powered vehicle 10 is traveling, the control unit 42 proceeds to step S15. In step S15, the controller 42 controls the motor 38 based on the second control information, and the process proceeds to step S16. In step S15, for example, when the manual driving force H increases, the control unit 42 controls the motor 38 so that the assist force M of the motor 38 corresponds to the broken line L11 of fig. 3. In step S15, for example, when the human driving force H decreases, the controller 42 controls the motor 38 so that the assist force M of the motor 38 corresponds to the broken line L41 in fig. 3.

In step S16, the control section 42 determines whether the torque HT of the human-powered driving force H is greater than or equal to a preset first value HT 1. When the torque HT of the manual driving force H is equal to or greater than the preset first value HT1, the control unit 42 proceeds to step S17. In step S17, the control unit 42 controls the motor 38 such that the assist force M of the motor 38 becomes the maximum value MX, and the process proceeds to step S18. In step S16, if the torque HT of the manual driving force H is not equal to or greater than the preset first value HT1, the controller 42 proceeds to step S18.

In step S18, the control section 42 determines whether the torque HT of the human-powered driving force H is less than or equal to a preset fourth value HT 4. The predetermined fourth value HT4 is smaller than the predetermined first value HT 1. Preferably, the preset fourth value HT4 is smaller than the preset third value HT 3. For example, the preset fourth value HT4 is a value of 0Nm or more and 4Nm or less. When the torque HT of the manual driving force H is not equal to or less than the preset fourth value HT4, the controller 42 proceeds to step S15. When the torque H of the manual driving force H is equal to or less than the preset fourth value HT4, the controller 42 proceeds to step S19. In step S19, the control unit 42 stops the motor 38 and ends the process.

In step S20, the control unit 42 determines whether the running speed V is equal to or higher than a preset second speed VX. The predetermined second speed VX is less than the predetermined first speed VA, preferably less than half the predetermined first speed VA. Preferably, the preset second speed VX is a value in the range of 5Km or more and 10Km or less. When it is determined in step S20 that the running speed V is equal to or higher than the preset second speed VX, the control unit 42 proceeds to step S15. If it is determined in step S20 that the running speed V is not equal to or higher than the preset second speed VX, the controller 42 proceeds to step S21.

In step S21, the control section 42 determines whether the torque HT of the human-powered driving force H is greater than or equal to a preset first value HT 1. When the torque HT of the manual driving force H is equal to or greater than the preset first value HT1, the control unit 42 proceeds to step S22. In step S22, the control unit 42 controls the motor 38 such that the assist force M of the motor 38 becomes the maximum value MX, and the process proceeds to step S23. In step S21, if the torque HT of the manual driving force H is not equal to or greater than the preset first value HT1, the controller 42 proceeds to step S23.

In step S23, the control section 42 determines whether the torque HT of the human-powered driving force H is less than or equal to a preset fourth value HT 4. When the torque HT of the manual driving force H is not equal to or less than the preset fourth value HT4, the controller 42 proceeds to step S14. In the case where the torque HT of the human-powered driving force H is less than or equal to the preset fourth value HT4, the control section 42 proceeds to step S19. The preset first value HT1 in the first control information may be different from the preset first value HT1 in the second control information.

Preferably, the storage unit 44 is configured to store information relating to a preset first value HT1 in a changeable manner. For example, the control unit 42 is configured to be able to change the preset first value HT1 in response to an operation of an operation unit P1 provided in the human-powered vehicle 10 or a signal from an external device. The control device 40 may include an interface 54, the interface 54 being communicatively coupled with an external device P2. The interface 54 is electrically connected to the control unit 42. For example, the interface 54 includes at least one of a connection port of a communication line and a wireless communication device. External devices include, for example, smart phones, tablets, and personal computers. Preferably, the control unit 42 is configured to change the preset first value HT1 stored in the storage unit 44 within a range from 50Nm to 130 Nm. For example, the controller 42 is configured to change the preset first value HT1 stored in the storage unit 44 within a range of 70Nm to 90 Nm.

Preferably, the preset first value HT1 is set to correspond to the maximum value HTX of the torque HT of the human-powered driving force H when the human-powered vehicle 10 is running. The maximum value HTX is, for example, an average maximum output during traveling of the rider for a previously set time. The maximum HTX of the human-powered vehicle 10 during driving may be a value determined by the user and corresponding to the maximum HTX, or may be a value determined by a manufacturer through testing or the like. The maximum value HTX during driving of the human-powered vehicle 10 during normal riding is a value in the range of 50Nm to 130 Nm. According to control device 40 of the present embodiment, until torque HT of manual driving force H becomes maximum value HTX, assist force M of motor 38 increases, so that torque HT of manual driving force H becomes maximum value HTX, and in this case, the rider is less likely to feel that assist force M of motor 38 is insufficient.

With reference to fig. 6, a process of changing the preset first value HT1 stored in the storage unit 44 will be described. When the electric power is supplied to the control unit 42, the control unit 42 starts the process and proceeds to step S24 of the flowchart shown in fig. 6. When the flowchart of fig. 6 ends, control unit 42 repeats the processing from step S24 after a predetermined period until the supply of electric power is stopped.

In step S24, control unit 42 determines whether or not there is a request to change first value HT1 set in advance. For example, when the control unit 42 receives a signal for changing the preset first value HT1 from the operation unit P1 or the external device P2 provided in the human-powered vehicle 10, it determines that there is a request for changing the preset first value HT 1. If there is no request for changing the preset first value HT1, the control unit 42 ends the process. If there is a request to change the preset first value HT1, the controller 42 proceeds to step S25.

In step S25, control unit 42 changes first value HT1 set in advance and stored in storage unit 44, and ends the process. In step S25, the control unit 42 changes the preset first value HT1 by changing the information on the preset first value HT 1. The controller 42 may change the value of the preset first value HT1 every 1Nm, may change the value of the preset first value HT1 every preset value, or may select one of a plurality of preset values to be set as the preset first value HT1, in response to a change request of the preset first value HT 1. For example, the user can grasp the current preset first value HT1 by displaying information on the preset first value HT1 on a display device provided in the operation portion P1, a display device provided in the human-powered vehicle 10 separately from the operation portion P1, or a display device provided in the external device P2.

< second embodiment >

The control device 40 according to the second embodiment will be described with reference to fig. 2, 5, 7, and 8. The control device 40 of the second embodiment is configured to drive the motor 38 in accordance with the manual driving force H when the torque HT of the manual driving force H is changed from 0Nm to more than 0Nm, and is similar to the control device 40 of the first embodiment except that the same reference numerals as those of the first embodiment are assigned to the configuration common to the first embodiment, and redundant description is omitted.

Control unit 42 is configured to drive motor 38 based on human-powered driving force H when torque HT of human-powered driving force H changes from 0Nm to greater than 0 Nm.

A broken line L12 shown in fig. 7 shows an example of the relationship between the torque HT of the manual driving force H and the torque MT of the assist force M of the motor 38 corresponding to the second control information. In the range where the torque HT of the manual driving force H is 0Nm or more and is equal to or less than the preset first value HT1, the broken line L12 may be a curve having a convex portion at the lower side, may be a straight line, may be a curve having a convex portion at the upper side, and may be a broken line. When the broken line L12 is a broken line in the range where the torque HT of the manual driving force H is 0Nm or more and the preset first value HT1 or less, the control unit 42 may control the motor 38 so that the torque MT of the assist force M of the motor 38 does not change abruptly in accordance with the change of the manual driving force H, and so that the response speed of the change of the torque MT of the assist force M of the motor 38 at the bending point of the broken line L12 and the vicinity thereof with respect to the change of the manual driving force H is reduced.

A chain line L22 shown in fig. 7 shows an example of the relationship between the torque HT of the human-powered driving force H and the ratio AT corresponding to the information on the preset first value HT 1. The dotted line L22 is the following broken line: when torque HT of human power H is equal to or greater than 0Nm, it increases in accordance with an increase in torque HT of human power H, and when torque HT of human power H is equal to or greater than a preset first value HT1, it linearly decreases in accordance with an increase in torque HT of human power H. In fig. 7, for example, the maximum value MTX of the torque MT is equal to a preset first value HT 1.

The process of controlling the motor 38 will be described with reference to fig. 8 and 5. When the electric power is supplied to the control unit 42, the control unit 42 starts the process and proceeds to step S31 of the flowchart shown in fig. 8. When the flowchart of fig. 8 ends, control unit 42 repeats the processing from step S31 after a predetermined period until the power supply is stopped.

In step S31, the control unit 42 determines whether the torque HT of the human-powered driving force H has changed from 0Nm to greater than 0 Nm. When the torque HT of the manual driving force H does not change from 0Nm to more than 0Nm, the control unit 42 ends the process. When the torque HT of the manual driving force H changes from 0Nm to more than 0Nm, the control unit 42 proceeds to step S12. After step S12, the controller 42 performs the same processing as that performed after step S12 of fig. 4 and 5 of the first embodiment.

< modification example >

The description related to the embodiment is an example of a mode that can be adopted by the control device for a human-powered vehicle according to the present invention, and is not intended to limit the mode. The control device for a human-powered vehicle according to the present invention may be combined with at least two modifications of the embodiments described below. In the following modification, the same reference numerals as in the embodiment are given to the portions common to the embodiment, and the description thereof is omitted.

In the first embodiment or the embodiment including the modified example of the first embodiment, the controller 42 may omit the processing of step S11, step S12, step S13, step S14, step S18, step S19, step S20, step S21, step S22, and step S23 in fig. 4 and 5. In the first embodiment or an embodiment including a modification of the first embodiment, the controller 42 may omit the processing of step S11, step S12, step S13, step S14, step S16, step S17, step S18, step S19, step S20, step S21, step S22, and step S23 in fig. 4 and 5. In the second embodiment or an embodiment including a modification of the second embodiment, the controller 42 may omit the processing of step S31, step S12, step S13, step S14, step S18, step S19, step S20, step S21, step S22, and step S23 in fig. 8. In the second embodiment or the embodiment including the modified example of the second embodiment, the controller 42 may omit the processes of step S31, step S12, step S13, step S14, step S16, step S17, step S18, step S19, step S20, step S21, step S22, and step S23 in fig. 8. For example, the processing shown in fig. 4, 5, and 8 may be changed to the processing shown in fig. 9. The process of controlling the motor 38 will be described with reference to fig. 9. When the electric power is supplied to the control unit 42, the control unit 42 starts the process and proceeds to step S41 of the flowchart shown in fig. 9. When the flowchart of fig. 9 ends, control unit 42 repeats the processing from step S41 after a predetermined period until the power supply is stopped.

In step S41, the control section 42 determines whether the torque HT of the human-powered driving force H is greater than or equal to a preset first value HT 1. When the torque HT of the manual driving force H is equal to or greater than the preset first value HT1, the control unit 42 proceeds to step S42. In step S42, the control unit 42 controls the motor 38 such that the assist force M of the motor 38 becomes the maximum value MX, and ends the processing. In step S41, if the torque HT of the manual driving force H is not equal to or less than the preset first value HT1, the controller 42 proceeds to step S43. In step S43, the control unit 42 controls the motor 38 based on the second control information, and ends the process.

In an embodiment including the first embodiment, the second embodiment, the modification of the first embodiment, or the modification of the second embodiment, the processes of step S13, step S14, step S20, step S21, step S22, and step S23 in fig. 4, 5, or 8 may be omitted. In this case, when the process of step S12 is performed, the controller 42 proceeds to step S15.

In the embodiment including the first embodiment, the second embodiment, the modification of the first embodiment, or the modification of the second embodiment, the control unit 42 may be configured to control the motor 38 such that the power MW of the assisting force M of the motor 38 is smaller than the maximum value MWX when the torque HT of the manual driving force H is smaller than the preset first value HT1, and such that the power MW of the assisting force M of the motor 38 is controlled to the maximum value MWX when the torque HT of the manual driving force H becomes the preset first value HT 1. The control unit 42 may be configured to control the motor 38 such that the power MW of the assist force M of the motor 38 increases as the power HW of the human-powered driving force H increases, when the torque HT of the human-powered driving force H is smaller than a preset first value HT 1. The maximum value MWX is a value of 250W to 600W. An example of the maximum value MWX is 500W. In other examples, the maximum MWX is 300W. In the modification, it is preferable that the first control information and the second control information include at least one of a table, a function, and a graph that correspond the torque HT of the human-powered driving force H to the power MW of the assist force M of the motor 38. In the present modification, the first rate of change R1 includes a first rate of change RW1 of an increase in the power MW of the assist force M of the motor 38 relative to an increase in the power HW of the human-powered driving force H when the human-powered vehicle 10 is started from a stopped state. The second rate of change R2 includes a second rate of change RW2 of an increase in power MW of the assisting force M of the motor 38 relative to an increase in power HW of the human-powered driving force H when the human-powered vehicle 10 is traveling. In the present modification, the control unit 42 is preferably configured to control the motor 38 such that a first rate RW1 of increase in the electric power MW of the assist force M of the motor 38 with respect to increase in the electric power HW of the human-powered force H when the human-powered vehicle 10 is started from a stopped state is higher than a second rate RW2 of increase in the electric power MW of the assist force M of the motor 38 with respect to increase in the electric power HW of the human-powered force H when the human-powered vehicle 10 is traveling, in a range where the torque HT of the human-powered force H is equal to or less than at least a portion of a preset first value HT 1.

In the embodiment including the first embodiment, the second embodiment, the modification of the first embodiment, or the modification of the second embodiment, the torque HT of the manual driving force H may be replaced with the power HW of the manual driving force H, and the torque MT of the assist force M may be replaced with the power MW of the assist force M. In this case, the preset first value HT1 is replaced with the preset first value HW1, the preset second value HT2 is replaced with the preset second value HW2, and the preset third value HT3 is replaced with the preset third value HW 3. The preset first value HW1 is, for example, a value in the range of 300W to 600W. Preferably, the preset first value HW1 is a value in a range of 400W to 500W. Preferably, the control unit 42 is configured to control the motor 38 such that the ratio AW is less than or equal to 200% when the power HW of the manual driving force H is greater than or equal to a preset first value HW 1. In the present modification, the control unit 42 is configured to control the motor 38 such that the ratio AW is equal to or less than 150% when the power HW of the manual driving force H is equal to or greater than a preset first value HW 1. In the present modification, the first control information and the second control information preferably include at least one of a table, a function, and a graph that correlate the power HW of the human-powered driving force H and the power MW of the assist force M of the motor 38.

A broken line L13 shown in fig. 10 indicates an example of the relationship between the power HW of the human-powered driving force H and the power MW of the assist force M of the motor 38 corresponding to the second control information. In the broken line L13, when the power HW of the human-powered driving force H is smaller than the preset third value HW3, the power MW of the assist force M of the motor 38 is 0W (watts). In the range where the power HW of the manual driving force H is equal to or higher than the preset third value HW3 and equal to or lower than the preset first value HW1, the broken line L13 may be a curve having a convex portion at the lower side, a straight line, a curve having a convex portion at the upper side, or a broken line. When the broken line L13 is a broken line in a range where the power HW of the human-powered driving force H is equal to or higher than the third value HW3 set in advance and equal to or lower than the first value HW1 set in advance, the controller 42 may control the motor 38 so that the power MW of the assisting force M of the motor 38 does not change abruptly in response to a change in the human-powered driving force H and so that the response speed of a change in the power MW of the assisting force M of the motor 38 at and near the bending point of the broken line L13 with respect to a change in the human-powered driving force H is reduced.

A chain line L23 shown in fig. 10 shows an example of the relationship between the power HW of the human-powered driving force H and the ratio AW, which correspond to the information on the preset first value HW 1. In the dot-and-dash line L23, the ratio AW in the case where the power HW of the human-powered driving force H is smaller than the preset third value HW3 is 0%. The dotted line L23 is the following broken line: when the electric power HW of the manual driving force H is equal to or greater than the preset third value HW3, the electric power HW of the manual driving force H increases in accordance with the increase in the electric power HW, and when the electric power HW of the manual driving force H is equal to or greater than the preset first value HW1, the electric power HW of the manual driving force H linearly decreases in accordance with the increase in the electric power HW.

In the embodiment including the first embodiment, the second embodiment, the modification of the first embodiment, or the modification of the second embodiment, the control unit 42 may be configured to control the motor 38 such that the torque MT of the assist force M of the motor 38 is smaller than the torque HT of the manual driving force H when the torque HT of the manual driving force H is smaller than a preset second value HT2, and to control the motor 38 such that the torque MT of the assist force M of the motor 38 is larger than or equal to the torque HT of the manual driving force H when the torque HT of the manual driving force H is larger than or equal to a preset second value HT2, which is smaller than a preset first value HT 6335.

A broken line L14 shown in fig. 11 shows an example of the relationship between the torque HT of the manual driving force H and the torque MT of the assist force M of the motor 38 corresponding to the second control information. In the broken line L14, the torque MT of the assist force M of the motor 38 is 0Nm when the torque HT of the manual driving force H is smaller than the preset third value HT 3. In the range where the torque HT of the manual driving force H is equal to or greater than the preset third value HT3 and equal to or less than the preset first value HT1, the broken line L14 may be a curve having a convex portion at the lower side, may be a straight line, may be a curve having a convex portion at the upper side, and may be a broken line. When the torque HT of the broken line L14, which is the human driving force H, is a broken line within a range of not less than the preset third value HT3 and not more than the preset first value HT1, the control unit 42 may control the motor 38 such that the torque MT of the assist force M of the motor 38 does not change abruptly in response to a change in the human driving force H, and such that the response speed of the change in the torque MT of the assist force M of the motor 38 at or near the inflection point of the broken line L14 with respect to the change in the human driving force H is reduced. In fig. 11, for example, the maximum value MTX of the torque MT is a value larger than a preset first value HT 1. The chain line L24 shown in fig. 11 is configured to indicate the ratio AT in the same manner as the chain line L21 shown in fig. 3. In this modification, the control unit 42 is configured to control the motor 38 such that the ratio AT when the manual driving force H is the second value HT2 set in advance is 100%.

In the embodiment including the first embodiment, the second embodiment, the modification of the first embodiment, or the modification of the second embodiment, the control unit 42 may be configured to control the motor 38 so that the ratio AT is greater than 200% when the torque HT of the manual driving force H is greater than or equal to a preset first value HT 1. In an embodiment including the first embodiment, the second embodiment, the modification of the first embodiment, or the modification of the second embodiment, the control unit 42 may be configured to control the motor 38 such that the ratio AW is greater than 200% when the electric power HW of the manual driving force H is greater than or equal to a preset first value HW 1.

In an embodiment including the first embodiment, the second embodiment, the modification of the first embodiment, or the modification of the second embodiment, the control unit 42 may change the second rate of change R2 in accordance with the acceleration of the crank rotation speed, the running speed V, and the acceleration of the running speed V. For example, the control unit 42 slows the response speed of the change in the assist force M of the motor 38 to the change in the torque HT of the manual driving force H in at least one of the cases where the acceleration of the crank rotation speed is increased, where the running speed V is increased, and where the acceleration of the running speed V is increased. For example, the control unit 42 increases the response speed of the change in the assist force M of the motor 38 to the change in the torque HT of the manual driving force H in at least one of the cases where the acceleration of the crank rotation speed is small, the case where the running speed V is small, and the case where the acceleration of the running speed V is small.

The expression "at least one" used in the present specification means "1 or more" among desired options. As an example, the expression "at least one of" used in the present specification may be "only 1 of the options" or "both of 2 options" when the number of options is 2. As another example, the expression "at least one of" used in the present specification may be "only 1 of the options" or "a combination of any of 2 or more options" when the number of options is 3 or more than 3.

Description of the symbols:

10 … … manpower-driven vehicle, 38 … … motor, 40 … … control device, 42 … … control part and 44 … … storage part.

Claims

1. A control device for a human-powered vehicle, comprising:

a control unit configured to control a motor configured to apply a propulsive force to the human-powered vehicle and change a ratio of an assisting force of the motor to a human-powered driving force according to the human-powered driving force,

the control unit is configured to control the motor such that an assist force of the motor is smaller than a maximum value when the torque of the human-powered driving force is smaller than a preset first value, and such that the assist force of the motor is equal to the maximum value when the torque of the human-powered driving force is equal to the preset first value,

the predetermined first value is a value in a range of 50Nm or more and 130Nm or less,

the control unit is configured to control the motor such that a first rate of change of an increase in the output of the motor with respect to an increase in the human-powered driving force when the human-powered vehicle is started from a stopped state is higher than a second rate of change of the output of the motor with respect to an increase in the human-powered driving force when the human-powered vehicle is traveling, within a range of at least a part of the preset first value or less.

2. A control device for a human-powered vehicle, comprising:

the control unit is configured to control the motor such that an assist force of the motor is smaller than a maximum value when the torque of the manual driving force is smaller than a preset first value, and such that the assist force of the motor is equal to the maximum value when the torque of the manual driving force is equal to the preset first value,

the control unit is configured to control the motor so that the ratio is different between a case where the output of the motor is increased in accordance with an increase in the human power driving force and a case where the output of the motor is decreased in accordance with a decrease in the human power driving force,

the control unit is configured to control the motor such that the ratio in a case where the output of the motor is increased in accordance with an increase in the human-powered driving force is larger than the ratio in a case where the output of the motor is decreased in accordance with a decrease in the human-powered driving force.

3. The control device according to claim 1 or 2,

also comprises a storage part which is used for storing the data,

the storage unit is configured to store information related to the preset first value in a changeable manner.

4. A control device for a power-driven vehicle, comprising:

a control unit configured to control a motor configured to apply a propulsive force to the human-powered vehicle, and to change a ratio of an assisting force of the motor to a human-powered driving force according to the human-powered driving force; and

a storage part for storing the data of the storage part,

the storage unit is configured to store information relating to the preset first value in a changeable manner,

the control unit is configured to control the motor such that a first rate of change of an increase in output of the motor with respect to an increase in the human-powered vehicle from a stopped state to a started state is higher than a second rate of change of an increase in output of the motor with respect to an increase in the human-powered vehicle while the human-powered vehicle is traveling, within a range of at least a part of the preset first value or less.

5. A control device for a human-powered vehicle, comprising:

a storage part for storing the data of the storage part,

6. The control device according to any one of claims 1 to 2 and 4 to 5, wherein,

the control unit is configured to control the motor so that the ratio is less than or equal to 200%.

7. The control device according to claim 6,

the control unit is configured to control the operation of the motor,

controlling the motor so that the torque of the assist force of the motor is smaller than the torque of the human-powered driving force when the torque of the human-powered driving force is smaller than a second value that is smaller than the first value,

and controlling the motor so that the torque of the assist force of the motor is equal to or greater than the torque of the human-powered driving force when the torque of the human-powered driving force is equal to or greater than the second value.

8. The control device according to claim 6,

the control unit is configured to control the motor such that the torque of the assist force of the motor is smaller than the torque of the human-powered driving force when the torque of the human-powered driving force is smaller than the preset first value.

9. The control device according to claim 8,

the control unit is configured to control the motor such that a torque of the assist force of the motor is smaller than a torque of the human driving force.

10. A control device for a power-driven vehicle, comprising:

a control unit configured to control a motor configured to apply a propulsive force to the human-powered vehicle, and to change a ratio of an assisting force of the motor to a human-powered driving force in accordance with the human-powered driving force,

the control unit is configured to control the motor so that a rate of change of a magnitude of increase in the assist force torque of the motor with respect to a magnitude of increase in the human-powered driving force torque changes when the human-powered driving force torque is smaller than the preset first value.

11. A control device for a human-powered vehicle, comprising:

a storage part for storing the data of the storage part,

12. The control device according to claim 10 or 11,

the control unit is configured to control the motor such that a rate of change of a magnitude of increase in the assist force torque of the motor with respect to a magnitude of increase in the human power driving force torque becomes larger as the human power driving force torque becomes larger, when the human power driving force torque is smaller than the preset first value.

13. The control device according to any one of claims 1 to 2, 4 to 5, and 7 to 11,

the control unit is configured to drive the motor in accordance with the manual driving force when the torque of the manual driving force changes from a value smaller than a preset third value smaller than the preset first value to a value greater than or equal to the preset third value.

14. A control device for a human-powered vehicle, comprising:

the control unit is configured to control the motor such that an assist force of the motor is smaller than a maximum value when the power of the human-powered driving force is smaller than a preset first value, and such that the assist force of the motor becomes the maximum value when the power of the human-powered driving force is equal to the preset first value,

the preset first value is a value in a range of 200W to 600W,

15. A control device for a human-powered vehicle, comprising:

the control unit is configured to control the motor such that an assist force of the motor is smaller than a maximum value when the power of the human-powered driving force is smaller than a preset first value, and such that the assist force of the motor becomes the maximum value when the power of the human-powered driving force is the preset first value,

the preset first value is a value in a range of 200W to 600W,

16. A control device for a human-powered vehicle, comprising:

a storage part for storing the data of the storage part,

the control unit is configured to control the motor such that an assist force of the motor is smaller than a maximum value when the power of the human-powered driving force is smaller than a preset first value, and such that the assist force of the motor is equal to the maximum value when the power of the human-powered driving force is equal to the preset first value,

17. A control device for a human-powered vehicle, comprising:

a control unit configured to control a motor configured to apply a propulsive force to the human-powered vehicle, and configured to change a ratio of an assisting force of the motor to a human-powered driving force based on the human-powered driving force; and

a storage part for storing the data of the storage part,

the control unit is configured to control the motor such that the ratio in a case where the output of the motor is increased in accordance with an increase in the human power driving force is larger than the ratio in a case where the output of the motor is decreased in accordance with a decrease in the human power driving force.